[EricH]

Originally Posted by team2061

the other way around, our team would like to go with a standard 6 wheel drive train with middle wheel lowered, but our mentor wants to go with a 6 wheeled swerve train for some reason,like the picture above

There is no good reason to have a fifth and sixth wheel in a swerve. Unless, of course, he wants a Chariot style of drivetrain... (The robot on top has a crab drive with four wheels.)

6-wheel dropped center is pretty standard; it's hard to get in trouble with that.